Merge pull request #286 from KKalem/geofence_upgrades

Geofence upgrades

Author: KKalem

behaviours/actionable_geofence/actionable_geofence/geofence_node.py

@@ -32,6 +32,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/CTD.msg"
   "msg/ISSS.msg"
   "msg/GeofenceStatusStamped.msg"
+  "msg/GeofencePolygonsStamped.msg"
   "action/BaseAction.action"
   DEPENDENCIES geometry_msgs geographic_msgs nav_msgs sensor_msgs std_msgs builtin_interfaces
 )

messages/smarc_msgs/CMakeLists.txt

@@ -0,0 +1,4 @@
+std_msgs/Header header
+
+geometry_msgs/Polygon[] geofence
+geometry_msgs/Polygon[] islands

messages/smarc_msgs/msg/GeofencePolygonsStamped.msg

@@ -8,4 +8,5 @@ uint8 status
 uint8 REASON_FENCE = 0 # horizontally outside
 uint8 REASON_CEILING = 1 # altitude above ceiling altitude
 uint8 REASON_FLOOR = 2 # altitude below floor altitude
+uint8 REASON_ISLAND = 3 # point inside an island
 uint8 outside_reason

messages/smarc_msgs/msg/GeofenceStatusStamped.msg

@@ -17,8 +17,9 @@ string ALTITUDE_TOPIC = 'smarc/altitude' #float32
 string BT_STATUS_TOPIC = 'smarc/bt_status' #string
 
 
-string GET_GEOFENCE_SERVICE_TOPIC = 'smarc/srv/get_geofence' # geographic_msgs/srv/GetGeoPath
+string CHECK_GEOFENCE_SERVICE_TOPIC = 'smarc/srv/check_geofence' # geographic_msgs/srv/GetGeoPath
 string GEOFENCE_STATUS_TOPIC = 'smarc/geofence_status' # smarc_msgs/msg/GeofenceStatusStamped
+string GEOFENCE_POLYGONS_TOPIC = 'smarc/geofence_polygons' #smarc_msgs/msg/GeofencePolygonsStamped
 
 ################
 # WARA-PS Topics

messages/smarc_msgs/msg/Topics.msg

@@ -219,7 +219,9 @@ tmux send-keys "ros2 launch auv_state_estimation projection_launch.py namespace:
 tmux new-window -t $SESSION:5 -n 'Aux'
 tmux rename-window "Aux"
 tmux select-window -t $SESSION:5
-tmux send-keys "ros2 run actionable_geofence geofence_node --ros-args -r __ns:=/$ROBOT_NAME -p use_sim_time:=$USE_SIM_TIME" C-m
+tmux send-keys "ros2 run actionable_geofence geofence_node --ros-args -r __ns:=/$ROBOT_NAME \
+-p use_sim_time:=$USE_SIM_TIME \
+-p map_frame:=$ROBOT_NAME/map" C-m
 
 
 ############